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We propose a method for computing a sewing pattern of a given 3D garment model. Our algorithm segments an input 3D garment shape into patches and computes their 2D parameterization, resulting in pattern pieces that can be cut out of fabric…
Folding garments reliably and efficiently is a long standing challenge in robotic manipulation due to the complex dynamics and high dimensional configuration space of garments. An intuitive approach is to initially manipulate the garment to…
Deformable object manipulation has many applications such as cooking and laundry folding in our daily lives. Manipulating elastoplastic objects such as dough is particularly challenging because dough lacks a compact state representation and…
Robotic manipulation of cloth has applications ranging from fabrics manufacturing to handling blankets and laundry. Cloth manipulation is challenging for robots largely due to their high degrees of freedom, complex dynamics, and severe…
We achieved contact-rich flexible object manipulation, which was difficult to control with vision alone. In the unzipping task we chose as a validation task, the gripper grasps the puller, which hides the bag state such as the direction and…
We present a novel method for generating 3D garment deformations from given body poses, which is key to a wide range of applications, including virtual try-on and extended reality. To simplify the cloth dynamics, existing methods mostly…
Cloth manipulation is challenging due to its highly complex dynamics, near-infinite degrees of freedom, and frequent self-occlusions, which complicate both state estimation and dynamics modeling. Inspired by recent advances in generative…
Clothes grasping and unfolding is a core step in robotic-assisted dressing. Most existing works leverage depth images of clothes to train a deep learning-based model to recognize suitable grasping points. These methods often utilize physics…
Assistive robots should be able to wash, fold or iron clothes. However, due to the variety, deformability and self-occlusions of clothes, creating robot systems for cloth manipulation is challenging. Synthetic data is a promising direction…
Goal-conditioned rearrangement of deformable objects (e.g. straightening a rope and folding a cloth) is one of the most common deformable manipulation tasks, where the robot needs to rearrange a deformable object into a prescribed goal…
While robotic manipulation of rigid objects is quite straightforward, coping with deformable objects is an open issue. More specifically, tasks like tying a knot, wiring a connector or even surgical suturing deal with the domain of…
Research on automated, image based identification of clothing categories and fashion landmarks has recently gained significant interest due to its potential impact on areas such as robotic clothing manipulation, automated clothes sorting…
In robotic deformable object manipulation (DOM) applications, constraints arise commonly from environments and task-specific requirements. Enabling DOM with constraints is therefore crucial for its deployment in practice. However, dealing…
Generating realistic clothing for virtual applications like online retail and digital avatars is crucial but requires expert knowledge of 3D tools to generating believable simulations. Recently, a number of works proposed to estimate cloth…
Fabric manipulation dynamically is commonly seen in manufacturing and domestic settings. While dynamically manipulating a fabric piece to reach a target state is highly efficient, this task presents considerable challenges due to the…
This paper focuses on fruit defect detection and glare removal using morphological operations, Glare removal can be considered as an important preprocessing step as uneven lighting may introduce it in images, which hamper the results…
This paper introduces a novel and general method to address the problem of using a general-purpose robot manipulator with a parallel gripper to wrap a deformable linear object (DLO), called a rope, around a rigid object, called a rod,…
This paper presents a novel robot vision architecture for perceiving generic 3D clothes configurations. Our architecture is hierarchically structured, starting from low-level curvatures, across mid-level geometric shapes \& topology…
Sewing garments using robots has consistently posed a research challenge due to the inherent complexities in fabric manipulation. In this paper, we introduce an intelligent robotic automation system designed to address this issue. By…
Clothing segmentation and fine-grained attribute recognition are challenging tasks at the crossing of computer vision and fashion, which segment the entire ensemble clothing instances as well as recognize detailed attributes of the clothing…